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Step 1. Battery and CG.
The CG should initially be set at a point 10 mm forward of the
center of the prop well, i.e., 10 mm aft of the front edge of
the belt. Support the model on your index fingers placed
underneath the carbon portion lateral to the belt slot on each
side of the wing, at the suggested longitudinal position.
Verify that the craft is lying horizontally. Adjust the
longitudinal battery location as needed to achieve balance.
Optionally secure the battery in place with a length of Velcro
strap wrapped around it through two slots cut in the lower
body portion. The CG can optionally be
located more precisely on the main axis of the aircraft by
using two separate cells lying against the front lower right
and upper left parts of the body. In this case, the
cells would be wired in series using a custom-made Y
connector.
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Step 2.
Motor and propeller. The propeller is a right-handed
airscrew and should spin in a clockwise direction when viewed
from the rear of the aircraft. Connect the battery and
program your ESC according to the manufacturer's instructions.
Verify the direction of rotation of the prop when throttle is
applied. If it is wrong, switch any two of the three
motor lead connections to rectify the situation.
Exercise extreme caution when handling an electric model with
battery power applied. Keep hands and other body parts
well clear of the propeller. I you
happen to be using a rare pusher prop, which is a left-handed
airscrew, then the rotation needs to be counterclockwise.
In either case, make sure that the front of the prop, with the
size markings, faces toward the front of the aircraft. A
prop mounted backward will still work, albeit at reduced
efficiency. Note that an airscrew does not change its
handedness when mounted backward. In any event, if an
upright Atmopod does not lift off at
full throttle, the prop is probably spinning in the wrong
direction. Measure the all-up weight
of your model by balancing it on the nose on a kitchen scale.
The reading should be in the neighborhood of 262 g (9.25 oz).
You can get a quick estimate of the stall thrust by applying
full throttle and subtracting the weight from the new reading.
This maneuver is safer with an assistant operating the
transmitter while you cautiously steady the upended aircraft,
lightly holding on to two legs.
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Step 3.
Control surfaces. Set the transmitter parameters to
achieve +- 45 degree travel in the two elevons and the rudder.
Use -50 exponential in each channel. Implement elevon
mixing for the elevons according to your radio system's
instructions. View your aircraft from the rear when
setting the controls. A right rudder input should move
the rudder to the right, a left input to the left. An up
elevator input moves both elevons up, a down input moves them
both down. A right aileron input moves the right elevon
up and the left elevon down, while a left aileron input moves
the left elevon up and the right elevon down.
At this stage your four channels of proportional control are
fully operational and your Atmopod
VTOL is ready to fly. If you are an experienced 3D
aerobatic RC airplane pilot, you may feel confident enough to
take the model to a nearby field and try flying it right away.
Do realize that this device is a different kind of air vehicle
with unusual flight characteristics not found in conventional
fixed wing aircraft or in helicopters, and
takes some adjusting to. We recommend that you first
take some time to gain a better feel for its response and
familiarize yourself with its handling in a more controlled
environment. The following exercises can be performed
indoors in a small room and will help you climb
up the learning curve without inflicting excessive damage to
your model.
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Step 4.
Floor exercises. Roll control is a
prominent issue in this design. With a relatively large
propeller spinning clockwise, the airframe will have a strong
predilection to roll left. Start out with floor
exercises by setting the model on a smooth floor, such as
concrete, tile, wood, or linoleum. Give it just enough
prop rpm to slide about on the ground with rudder and elevon
inputs. Practice canceling the natural roll tendency
and guiding the vehicle in a predictable manner. Note
that on the floor the effects of rudder and elevator inputs
are reversed. For example, right rudder causes the
vehicle to move to the left, and up elevator causes it to move
in the direction of the body bottom. On the other hand,
right aileron input still produces a right roll.
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Next, practice making little hops on the
ground, straight up and down. |
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Unlike a helicopter, the Atmopod
doesn't need to be tethered for this routine, and should be
able to survive spills from low heights. |
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The same hops can be rehearsed on a tabletop. If you
start losing control of your flyer, just cut the engine and
let the plane fall down to the ground. Consider the
throttle stick your panic button. |
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Step 5.
Wall exercises. This VTOL's propeller is
protected within the confines of its body and wing, opening up
possibilities not available to other fliers. For
example, it can be made to hug the wall and kiss the ceiling.
For these drills, have an assistant cautiously hold it against
the wall, then rev up the motor so the craft sticks to the
wall. |
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You can then lower the throttle to the point where it starts
to slide down, then adjust thrust to achieve a controlled
slide down the wall. |
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Once on the floor, you can use the skills acquired earlier to
move it away from the wall. With further practice, you
can fly it up toward the wall and stick it there again.
Much entertainment can be derived from this routine alone. |
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Step 6.
Ceiling exercises. Have an assistant hold the flyer
against the ceiling and increase the throttle until its stays
put. Practice adjusting roll input for slow roll in one
direction then the other. If the throttle setting is too
high, the craft will become unstable and fly off to a side.
Remember your panic mode: simply kill the engine. |
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Step 7.
Tether exercises. Hang the Atmopod
from the ceiling with a lamp hook or other
attaching means, and a retractable cable such as a coiled
telephone cord. Allow a minimum of 4 ft of clearance
from walls and other obstacles. |
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Practice roll control and short straight
liftoffs. |
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Step 8.
Liftoff. After you have mastered the above
exercises, use an open area to sharpen your hop and liftoff
skills. |
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Choose soft soil or grass to avoid damaging your craft
following a short free fall back to the ground. |
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Challenge yourself by lifting off near benign obstacles. |
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Step 9.
Hovering. Hovering requires fast response and
good eye-hand coordination. Lengthen your hop exercises
by staying in the air for increasing amounts of time while
still remaining low to the ground. |
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Practice in a large indoor area that provides still air and an
environment devoid of obstacles. The VTOL is shown here
doing a demo flight at RCX 2005
in Anaheim, CA. |
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Challenge yourself by hovering under tree canopies. |
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Hover your flyer as a walk-along companion on a hiking trail. |
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Step 10.
Flying. You can transition from hover to level
flight by letting the craft lean forward while
maintaining roll control. Alternatively, an experienced
airplane pilot can hand launch the Atmopod
horizontally and fly it like an airplane right
off, then land it on the body bottom. |
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This light aircraft flies best indoors or
outdoors in calm conditions. |
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A row of large trees serves as a good windbreak. |
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Dodge the trees. |
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Enjoy a great sunset with the birds. |
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Step 11.
Aerobatics. Thanks to its symmetrical geometry,
the Atmopod is aerodynamically as comfortable
right side up, upside down, or on a side. It can easily
do a knife edge or maintain an X position. The challenge
is for the pilot to keep track of orientation and adjust
control input accordingly. |
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Slow maneuvers low to the ground are both safe and
spectacular. |
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Maintenance and repair.
The airframe is designed to withstand impacts that would
damage other model airplanes. Still, rough landings may
cause foam parts to crack or tear. Use hot melt glue to
fix these before flying again. A cordless glue gun is a
useful tool in the field. |
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This
aircraft can take a lot of damage and be restored to flying
condition in little time. There is a noticeable increase
in weight and degradation of performance with the accumulation
of glue. However, do not use the Atmopod
with unrepaired weaknesses, since these compromise the
integrity of the structure and may prematurely lead to its
generalized failure.
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Modifications and
adaptations. The Atmopod
can be conceptualized as a ducted fan provided
with lift- and thrust vectoring surfaces. It
can be modified and adapted for many applications.
Aerial photography is one possibility. Gyroscopic
stabilization would enable it to hover stably and serve as an
aerial tripod. The rudder can be split into two
independent parts with an additional servo installed for
improved roll control. Floats on the feet and nose, and
supplemental protection of the electronics, enable its
operation from the surface of swimming pools and ponds.
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The device could be strapped horizontally on a
floating platform and become an airboat. A variable
pitch propeller, providing reversible thrust, would expand the
gamut of aerobatic maneuvers. It would also allow the VTOL to right
itself up from a side lying position on the ground and to
stick to wall and ceiling by the feet. Feel
free to experiment safely. If you come up with a cool
idea, we would love to hear from you. Please share your
pictures and videos with us. |